dijkstra.h
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00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
00037  *********************************************************************/
00038 #ifndef _DIJKSTRA_H
00039 #define _DIJKSTRA_H
00040 
00041 #define PRIORITYBUFSIZE 10000
00042 #include <math.h>
00043 #include <stdint.h>
00044 #include <string.h>
00045 #include <stdio.h>
00046 
00047 #include <global_planner/planner_core.h>
00048 #include <global_planner/expander.h>
00049 
00050 // inserting onto the priority blocks
00051 #define push_cur(n)  { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ && currentEnd_<PRIORITYBUFSIZE){ currentBuffer_[currentEnd_++]=n; pending_[n]=true; }}
00052 #define push_next(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ &&    nextEnd_<PRIORITYBUFSIZE){    nextBuffer_[   nextEnd_++]=n; pending_[n]=true; }}
00053 #define push_over(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ &&    overEnd_<PRIORITYBUFSIZE){    overBuffer_[   overEnd_++]=n; pending_[n]=true; }}
00054 
00055 namespace global_planner {
00056 class DijkstraExpansion : public Expander {
00057     public:
00058         DijkstraExpansion(PotentialCalculator* p_calc, int nx, int ny);
00059         ~DijkstraExpansion();
00060         bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, int cycles,
00061                                 float* potential);
00062 
00068         void setSize(int nx, int ny); 
00070         void setNeutralCost(unsigned char neutral_cost) {
00071             neutral_cost_ = neutral_cost;
00072             priorityIncrement_ = 2 * neutral_cost_;
00073         }
00074 
00075         void setPreciseStart(bool precise){ precise_ = precise; }
00076     private:
00077 
00084         void updateCell(unsigned char* costs, float* potential, int n); 
00086         float getCost(unsigned char* costs, int n) {
00087             float c = costs[n];
00088             if (c < lethal_cost_ - 1 || (unknown_ && c==255)) {
00089                 c = c * factor_ + neutral_cost_;
00090                 if (c >= lethal_cost_)
00091                     c = lethal_cost_ - 1;
00092                 return c;
00093             }
00094             return lethal_cost_;
00095         }
00096 
00098         int *buffer1_, *buffer2_, *buffer3_; 
00099         int *currentBuffer_, *nextBuffer_, *overBuffer_; 
00100         int currentEnd_, nextEnd_, overEnd_; 
00101         bool *pending_; 
00102         bool precise_;
00103 
00105         float threshold_; 
00106         float priorityIncrement_; 
00108 };
00109 } //end namespace global_planner
00110 #endif


global_planner
Author(s): David Lu!!
autogenerated on Wed Aug 2 2017 03:13:12